There are several concepts that are important to know:

• A company can be a child of another company record. This allows you to have several addresses for 1 company. So you should have your main top company with the invoice address, and a child-company (that can have the same name) with the visiting address.
• In the customer form, in the tab "Sales & Purchases", you can uncheck the "Customer" checkbox to avoid this record to show when you select a company for a sale order. This is what you want for your visiting address.
• If you want to be able to create orders with a different invoice address and delivery address, you can activate this option in Settings > Configuration > Sales > Allow a different address for delivery and invoicing

With these elements, you can get what you mention in your case.